JPS5983215A - Controller of unattended car - Google Patents
Controller of unattended carInfo
- Publication number
- JPS5983215A JPS5983215A JP57194160A JP19416082A JPS5983215A JP S5983215 A JPS5983215 A JP S5983215A JP 57194160 A JP57194160 A JP 57194160A JP 19416082 A JP19416082 A JP 19416082A JP S5983215 A JPS5983215 A JP S5983215A
- Authority
- JP
- Japan
- Prior art keywords
- photoelectric sensor
- bumper
- reflective photoelectric
- unmanned vehicle
- detected
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 230000004913 activation Effects 0.000 claims description 2
- 238000001514 detection method Methods 0.000 description 5
- 238000010586 diagram Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000007257 malfunction Effects 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 230000035945 sensitivity Effects 0.000 description 1
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0238—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors
Landscapes
- Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- Electromagnetism (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
Description
【発明の詳細な説明】
本発明は、減速・停止が可能で無人車の前方を横ぎる人
や無人車の方向転換中に一時的に物を検知しても、走行
を停止させずに走行が継続可能な無人車の制御装置に関
するものである。[Detailed description of the invention] The present invention is capable of decelerating and stopping, and even if a person passing in front of the unmanned vehicle or an object is temporarily detected while the unmanned vehicle is changing direction, the unmanned vehicle will continue to run without stopping. This invention relates to a control device for an unmanned vehicle that allows continuous operation.
路面に敷設した誘導線から発する磁界をピックアップコ
イルによシ検出して自動運転させる無人車は、車体前方
に突曲配置し、物例えば障害物に衝突したとき生ずる変
形によってリミットスイッチ全作動させて障害物全検知
する構造としていた。An unmanned vehicle that operates automatically by detecting the magnetic field emitted from a guide wire laid on the road surface using a pick-up coil is placed in a curved position at the front of the vehicle body, and a limit switch is fully activated by the deformation that occurs when it collides with an object, such as an obstacle. It was designed to detect all obstacles.
このような変形はバンパーが再度自己復帰するに十分な
反発力を保持する弾性限度内でなければならず、また荷
役作業の能率向上のため車体速度を早くすると車体前方
に大きく突曲させると走行時の振動がバンパーに伝わシ
誤動作する危険性をもち、このため走行時の振動がバン
パーに伝わるの全防止せんとすると検知感度が低下する
という欠点があった。Such deformation must be within the elastic limit that maintains sufficient repulsive force for the bumper to return to its original position.Also, in order to improve the efficiency of cargo handling operations, if the vehicle speed is increased, making a large bulge toward the front of the vehicle will cause the bumper to move forward. There is a risk that vibrations caused by driving will be transmitted to the bumper and malfunction, and if it is not possible to completely prevent vibrations from being transmitted to the bumper while driving, the detection sensitivity will be reduced.
他方光学式のみの障害物検知装置にあっては、も作動し
て無人車が行止してしまい、作業能率の向上が阻害され
るという欠点があった。On the other hand, an obstacle detection device using only an optical type has the disadvantage that the unmanned vehicle may come to a standstill due to the operation of the obstacle detection device, which hinders the improvement of work efficiency.
本発明の無人車の制御装置（以下本発明装置と称す。）
は、物を無接触で検知する反射型光電センサ（２）と物
との接触によシ物を検知する機械的バンパーｆ８）とを
配設し、上記反射型光電センサ（２）の入力信号を分岐
し、一方は上記反射型光電センサの入力信号全他方は時
限的要δ介してオア素子に印加させ、上記反射型光電セ
ンサ（２）の作動時から一定時間経過してもなお機械的
バンパー（３）が作動しないとき減速制御から解除する
制御装置（５）全具備して減速・停止が可能で無人車の
前方を横ぎる人や無人車の方向転換中に一時的に物を検
知しても走行を停止させずに走行が継続可能な無人車の
制御装置に関するものである。Control device for an unmanned vehicle of the present invention (hereinafter referred to as the device of the present invention)
is equipped with a reflective photoelectric sensor (2) that detects objects without contact and a mechanical bumper f8) that detects objects by contact with the object, and the input signal of the reflective photoelectric sensor (2) is One is the input signal of the reflective photoelectric sensor, and the other is applied to the OR element via a time limit δ. Equipped with a control device (5) that releases deceleration control when the bumper (3) does not operate, it can decelerate and stop, and temporarily detects people passing in front of the unmanned vehicle or objects while the unmanned vehicle is changing direction. The present invention relates to a control device for an unmanned vehicle that can continue traveling without stopping even when the vehicle is in use.
本発明装置の一実施例を説明すると、無人車の車体（１
）前方中央部に前部反射型光電センサ（２Ｐ゛）、無人
車の車体（１）後方中央部に後部反射型光電センサ（２
Ｒ）’にそれぞれ配している。車体（１）前・後部に機
械的バンパー（３Ｆ） 、（３Ｒ）（ｉ７それぞれ別々
に配設している。To explain one embodiment of the device of the present invention, the body of an unmanned vehicle (1
) Front reflective photoelectric sensor (2P゛) in the front center, unmanned vehicle body (1) Rear reflective photoelectric sensor (2P) in the rear center
R)' respectively. Mechanical bumpers (3F) and (3R) (i7) are installed separately at the front and rear of the vehicle body (1).
無人車の走行方向を規制する前・後進操作スイッチ（４
）は車体（１）前部に設けられている。Forward/reverse operation switch (4) that regulates the driving direction of the unmanned vehicle
) is provided at the front of the vehicle body (1).
上記反射型光電センサ（２）の入力信号を分岐し、上記
反射型光電センサの作動時から一定時間経過してもなお
機械的バンパーが作動しないとき減速制御から解除する
制御装置（５）全無人車に装着している。A control device (5) that branches the input signal of the reflective photoelectric sensor (2) and releases the deceleration control when the mechanical bumper does not operate even after a certain period of time has passed since the reflective photoelectric sensor was activated. It is installed in the car.
制御装置（５）は減速回路（５１）と非常停止回路（５
２）とからなっている。The control device (5) has a deceleration circuit (51) and an emergency stop circuit (5
2) It consists of.
減速回路（５１）は、前部反射型光電センサ（２Ｆ）の
検知信号と前後進操作スイッチ（４）の前進信号と全入
力とする第１アンド素子（５１１） 、後部反射型光電
センサ（２Ｒ）の検知信号と前後進操作スイッチ（４）
の後進信号とを入力とする第２アンド素子（５１２）、
第１アンド素子（５１１）、第２アンド素子（５１２）
の出力を入力とする第１オア素子（５１３）、第１オア
素子（５１３）の出力を分岐し、一方全時限的要都乍介
して第２オア素子（５１４）に印加する接続からなシ、
第２オア素子（５１４）の出力が強制減速信号となって
いる。The deceleration circuit (51) includes a first AND element (511) which receives the detection signal of the front reflective photoelectric sensor (2F), a forward signal of the forward/reverse operation switch (4), and a rear reflective photoelectric sensor (2R). ) detection signal and forward/backward operation switch (4)
a second AND element (512) which receives as input the reverse signal of
First AND element (511), second AND element (512)
A first OR element (513) which takes the output of ,
The output of the second OR element (514) is a forced deceleration signal.
非常停止回路（５２）は前後進操作スイッチ（４）の操
作信号を入力とする第３オア素子（５２３）と車体（１
）前後部にそれぞれ配した機械的バンパーの作動信号を
入力とする第４オア素子（５２４）および第３オア素子
（５２３）第４オア素子（５２，４）それぞれの出力を
入力とする第３アンド素子（５２５）からなシ、第３ア
ンド素子（５２５）の出力信号が非常停止信号となって
いる。The emergency stop circuit (52) connects a third OR element (523) to which the operation signal of the forward/reverse operation switch (4) is input, and the vehicle body (1).
) A fourth OR element (524) which receives as input the activation signal of the mechanical bumpers arranged at the front and rear, and a third OR element (523) which receives as input the outputs of the third OR element (523) and fourth OR element (52, 4), respectively. The output signal from the AND element (525) and the third AND element (525) serves as an emergency stop signal.
今、前後進操作スイッチ（４）全前進側に操作すると、
前進走行を開始すると共に前進操作信号が第１アンド素
子（５１１）に印加されている。Now, if you operate the forward/backward operation switch (4) to the full forward side,
At the same time as forward travel is started, a forward operation signal is applied to the first AND element (511).
前進走行途上、物（例えば障害物音いうｏ）ｋ前部反射
型光電センサ（２Ｆ）で検知すると、第１アンド素子（
５１１）第１オア素子（５１３） 、第２オア素子（５
１４）がオンし、無人車は減速走行するＯ減速走行中に
機械的バンパーが作動すると、非常停止がかかシ無人車
は停止する。しかし時限的要必弥設定された時間内に機
械的パンツく−が作動し々いときは、第２オア素子（５
１４）がオフとな）、減速信号が解除され元の走行速度
にて戻る。When an object (e.g. the sound of an obstacle) is detected by the front reflective photoelectric sensor (2F) while driving forward, the first AND element (
511) First OR element (513), second OR element (5
14) is turned on and the unmanned vehicle decelerates.O If the mechanical bumper operates while decelerating, an emergency stop is activated and the unmanned vehicle stops. However, when the mechanical pant is fully activated within the set time period, the second OR element (5
14) is turned off), the deceleration signal is canceled and the vehicle returns to its original running speed.
後進走行途上、後部反射型光電センサ（２Ｒ）で物を検
知したときも減速回路（５１）、非常停止回路（５２）
は前進時と同様に機能する。When an object is detected by the rear reflective photoelectric sensor (2R) while driving backward, the deceleration circuit (51) and emergency stop circuit (52) are activated.
functions in the same way as when moving forward.
本発明装置は、上述のような機能を備えていることから
無人車の前方音−瞬人が横切るような場合や無人車の方
向転換中に一時的に壁を検知しても直ちに停止させるの
でなく減速して一時的障害が除去されると再度元の走行
速度に戻シそれによって作業能率の向上が図れるという
工業的効果を奏する。Since the device of the present invention has the above-mentioned functions, it can immediately stop the unmanned vehicle even if it detects the sound ahead of the unmanned vehicle, such as when a person crosses the vehicle or temporarily detects a wall while changing direction of the unmanned vehicle. When the temporary obstacle is removed, the vehicle returns to its original running speed, which has the industrial effect of improving work efficiency.
第１図は本発明装置を具備する無人走行車の平面図、第
２図は第１図の側面図、第３図は制御回路図を示めす。
ｌ・・・・・・無 人 車 ２・・・・・・反射型
光電センサ３・・・・・・機械的バンパーFIG. 1 is a plan view of an unmanned vehicle equipped with the device of the present invention, FIG. 2 is a side view of FIG. 1, and FIG. 3 is a control circuit diagram. l...Unmanned car 2...Reflective photoelectric sensor 3...Mechanical bumper
Claims (1)
よシ物を検知する機械的バンパーと全備えた無人車にお
いて、上記反射型光電センサの入力信号を分岐し、一方
は上記反射型光電センサの磁 入力信号？＝方は時限的要素を介してオア素子に印加さ
せ、上記反射型光電センサの作動時から一定時間経過し
てもなお機械的バンパーが作動しないとき、減速制御か
ら解除する制御装置を具備してなる無人車の制御装置。[Claims] In an unmanned vehicle fully equipped with a reflective photoelectric sensor that detects objects without contact and a mechanical bumper that detects objects through contact with the object, the input signal of the reflective photoelectric sensor is branched. And one is the magnetic input signal of the above reflective photoelectric sensor? = is provided with a control device that applies the voltage to the OR element via a timed element and cancels the deceleration control when the mechanical bumper does not operate even after a certain period of time has elapsed from the activation of the reflective photoelectric sensor. A control device for unmanned vehicles.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP57194160A JPS5983215A (en) | 1982-11-04 | 1982-11-04 | Controller of unattended car |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP57194160A JPS5983215A (en) | 1982-11-04 | 1982-11-04 | Controller of unattended car |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| JPS5983215A true JPS5983215A (en) | 1984-05-14 |
Family
ID=16319916
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP57194160A Pending JPS5983215A (en) | 1982-11-04 | 1982-11-04 | Controller of unattended car |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPS5983215A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH01282617A (en) * | 1988-05-10 | 1989-11-14 | Toyota Autom Loom Works Ltd | Control device for travelling at prescribed interval for unmanned vehicle in plural unmanned vehicle system |
| JPH09297620A (en) * | 1996-04-30 | 1997-11-18 | Fuji Heavy Ind Ltd | Traveling controller for self-traveling truck |
Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS4835555B1 (en) * | 1969-01-30 | 1973-10-29 |
-
1982
- 1982-11-04 JP JP57194160A patent/JPS5983215A/en active Pending
Patent Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS4835555B1 (en) * | 1969-01-30 | 1973-10-29 |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH01282617A (en) * | 1988-05-10 | 1989-11-14 | Toyota Autom Loom Works Ltd | Control device for travelling at prescribed interval for unmanned vehicle in plural unmanned vehicle system |
| JPH09297620A (en) * | 1996-04-30 | 1997-11-18 | Fuji Heavy Ind Ltd | Traveling controller for self-traveling truck |
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